Start on sentinel spatial pub/sub

Hellblazer · Aug 27, 2023 · 5d58ad5 · 5d58ad5
1 parent bf30eaa
commit 5d58ad5
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Showing 11 changed files with 261 additions and 31 deletions.
diff --git a/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/Geometry.java b/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/Geometry.java
@@ -227,6 +227,36 @@ public static void centerSphere(float[] pa, float[] pb, float[] pc, float[] pd,
         centerSphere(pa[0], pa[1], pa[2], pb[0], pb[1], pb[2], pc[0], pc[1], pc[2], pd[0], pd[1], pd[2], po);
     }
 
+    /**
+     * Computes the center of the sphere defined by the points a, b, c, and d. The
+     * latter are assumed to be in CCW order, such that the method
+     * {@link #leftOfPlane} would return a positive number.
+     * 
+     * @param po array containing (x,y,z) coordinates of center.
+     */
+    public static void centerSphereFast(float xa, float ya, float za, float xb, float yb, float zb, float xc, float yc,
+                                        float zc, float xd, float yd, float zd, float[] po) {
+        double adx = xa - xd;
+        double bdx = xb - xd;
+        double cdx = xc - xd;
+        double ady = ya - yd;
+        double bdy = yb - yd;
+        double cdy = yc - yd;
+        double adz = za - zd;
+        double bdz = zb - zd;
+        double cdz = zc - zd;
+        double ads = adx * adx + ady * ady + adz * adz;
+        double bds = bdx * bdx + bdy * bdy + bdz * bdz;
+        double cds = cdx * cdx + cdy * cdy + cdz * cdz;
+        double scale = 0.5 / leftOfPlaneFast(xa, ya, za, xb, yb, zb, xc, yc, zc, xd, yd, zd);
+        po[0] = xd + (float) (scale
+        * (ads * (bdy * cdz - cdy * bdz) + bds * (cdy * adz - ady * cdz) + cds * (ady * bdz - bdy * adz)));
+        po[1] = yd + (float) (scale
+        * (ads * (bdz * cdx - cdz * bdx) + bds * (cdz * adx - adz * cdx) + cds * (adz * bdx - bdz * adx)));
+        po[2] = zd + (float) (scale
+        * (ads * (bdx * cdy - cdx * bdy) + bds * (cdx * ady - adx * cdy) + cds * (adx * bdy - bdx * ady)));
+    }
+
     public static Point3d[] findLineSphereIntersections(Tuple3d linePoint0, Tuple3d linePoint1, Tuple3d circleCenter,
                                                         double circleRadius) {
         // http://www.codeproject.com/Articles/19799/Simple-Ray-Tracing-in-C-Part-II-Triangles-Intersec

diff --git a/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/SOI.java b/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/SOI.java
@@ -61,7 +61,7 @@ public boolean includes(Node node) {
     }
 
     @Override
-    public void insert(Node id, Tuple3f point3f) {
+    public void insert(Node id) {
         // TODO Auto-generated method stub
 
     }
@@ -78,12 +78,6 @@ public boolean isEnclosing(Node node, Node center_node_id) {
         return false;
     }
 
-    @Override
-    public boolean overlaps(Node node, Tuple3f center, float radiusSquared) {
-        // TODO Auto-generated method stub
-        return false;
-    }
-
     @Override
     public void remove(Node node) {
         // TODO Auto-generated method stub

diff --git a/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/Tetrahedron.java b/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/Tetrahedron.java
@@ -19,7 +19,7 @@
 
 package com.hellblazer.luciferase.sentinel;
 
-import static com.hellblazer.luciferase.sentinel.Geometry.centerSphere;
+import static com.hellblazer.luciferase.sentinel.Geometry.centerSphereFast;
 import static com.hellblazer.luciferase.sentinel.V.A;
 import static com.hellblazer.luciferase.sentinel.V.B;
 import static com.hellblazer.luciferase.sentinel.V.C;
@@ -668,7 +668,7 @@ public void addFaces(List<Vertex[]> faces) {
 
     public Point3f center() {
         float[] center = new float[3];
-        centerSphere(a.x, a.y, a.z, b.x, b.y, b.z, c.x, c.y, c.z, d.x, d.y, d.z, center);
+        centerSphereFast(a.x, a.y, a.z, b.x, b.y, b.z, c.x, c.y, c.z, d.x, d.y, d.z, center);
         return new Point3f(center[0], center[1], center[2]);
     }
 
@@ -1212,7 +1212,7 @@ void traverseVoronoiFace(Tetrahedron origin, Tetrahedron from, Vertex vC, Vertex
             return;
         }
         float[] center = new float[3];
-        centerSphere(a.x, a.y, a.z, b.x, b.y, b.z, c.x, c.y, c.z, d.x, d.y, d.z, center);
+        centerSphereFast(a.x, a.y, a.z, b.x, b.y, b.z, c.x, c.y, c.z, d.x, d.y, d.z, center);
         face.add(new Point3f(center[0], center[1], center[2]));
         V next = VORONOI_FACE_NEXT[ordinalOf(from).ordinal()][ordinalOf(vC).ordinal()][ordinalOf(axis).ordinal()];
         Tetrahedron t = getNeighbor(next);
@@ -1234,7 +1234,7 @@ void traverseVoronoiFace(Tetrahedron origin, Tetrahedron from, Vertex vC, Vertex
     void traverseVoronoiFace(Vertex vC, Vertex axis, List<Tuple3f[]> faces) {
         ArrayList<Point3f> face = new ArrayList<>();
         float[] center = new float[3];
-        centerSphere(a.x, a.y, a.z, b.x, b.y, b.z, c.x, c.y, c.z, d.x, d.y, d.z, center);
+        centerSphereFast(a.x, a.y, a.z, b.x, b.y, b.z, c.x, c.y, c.z, d.x, d.y, d.z, center);
         face.add(new Point3f(center[0], center[1], center[2]));
         V v = VORONOI_FACE_ORIGIN[ordinalOf(vC).ordinal()][ordinalOf(axis).ordinal()];
         Tetrahedron next = getNeighbor(v);

diff --git a/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/cast/AbstractSpatial.java b/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/cast/AbstractSpatial.java
@@ -0,0 +1,45 @@
+/**
+ * Copyright (C) 2023 Hal Hildebrand. All rights reserved.
+ * 
+ * This program is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU Affero General Public License as published by the Free
+ * Software Foundation, either version 3 of the License, or (at your option) any
+ * later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more
+ * details.
+ * 
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+package com.hellblazer.luciferase.sentinel.cast;
+
+import javax.vecmath.Point3f;
+import javax.vecmath.Tuple3f;
+
+/**
+ * @author hal.hildebrand
+ */
+public class AbstractSpatial {
+
+    protected Point3f location;
+
+    public AbstractSpatial(Point3f location) {
+        this.location = location;
+    }
+
+    public Point3f getLocation() {
+        return location;
+    }
+
+    public Point3f moveBy(Tuple3f delta) {
+        location.add(delta);
+        return location;
+    }
+
+    public void setLocation(Point3f location) {
+        this.location = location;
+    }
+}
diff --git a/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/cast/SpatialPublish.java b/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/cast/SpatialPublish.java
@@ -0,0 +1,29 @@
+/**
+ * Copyright (C) 2023 Hal Hildebrand. All rights reserved.
+ * 
+ * This program is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU Affero General Public License as published by the Free
+ * Software Foundation, either version 3 of the License, or (at your option) any
+ * later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more
+ * details.
+ * 
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+package com.hellblazer.luciferase.sentinel.cast;
+
+import javax.vecmath.Point3f;
+
+/**
+ * @author hal.hildebrand
+ */
+public class SpatialPublish extends AbstractSpatial {
+
+    public SpatialPublish(Point3f location) {
+        super(location);
+    }
+}
diff --git a/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/cast/SpatialSubscription.java b/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/cast/SpatialSubscription.java
@@ -0,0 +1,29 @@
+/**
+ * Copyright (C) 2023 Hal Hildebrand. All rights reserved.
+ * 
+ * This program is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU Affero General Public License as published by the Free
+ * Software Foundation, either version 3 of the License, or (at your option) any
+ * later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more
+ * details.
+ * 
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+package com.hellblazer.luciferase.sentinel.cast;
+
+import javax.vecmath.Point3f;
+
+/**
+ * @author hal.hildebrand
+ */
+abstract public class SpatialSubscription extends AbstractSpatial {
+
+    public SpatialSubscription(Point3f location) {
+        super(location);
+    }
+}
diff --git a/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/cast/SphericalPublish.java b/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/cast/SphericalPublish.java
@@ -0,0 +1,46 @@
+/**
+ * Copyright (C) 2023 Hal Hildebrand. All rights reserved.
+ * 
+ * This program is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU Affero General Public License as published by the Free
+ * Software Foundation, either version 3 of the License, or (at your option) any
+ * later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more
+ * details.
+ * 
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+package com.hellblazer.luciferase.sentinel.cast;
+
+import javax.vecmath.Point3f;
+
+/**
+ * @author hal.hildebrand
+ */
+public class SphericalPublish extends SpatialPublish {
+    protected float radius;
+    protected float radiusSquared;
+
+    public SphericalPublish(Point3f location, float radius) {
+        super(location);
+        this.radius = radius;
+        this.radiusSquared = radius * radius;
+    }
+
+    public float getRadius() {
+        return radius;
+    }
+
+    public float getRadiusSquared() {
+        return radiusSquared;
+    }
+
+    public void setRadius(float radius) {
+        this.radius = radius;
+        radiusSquared = radius * radius;
+    }
+}
diff --git a/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/cast/SphericalSubscription.java b/sentinel/src/main/java/com/hellblazer/luciferase/sentinel/cast/SphericalSubscription.java
@@ -0,0 +1,46 @@
+/**
+ * Copyright (C) 2023 Hal Hildebrand. All rights reserved.
+ * 
+ * This program is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU Affero General Public License as published by the Free
+ * Software Foundation, either version 3 of the License, or (at your option) any
+ * later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE. See the GNU Affero General Public License for more
+ * details.
+ * 
+ * You should have received a copy of the GNU Affero General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ */
+package com.hellblazer.luciferase.sentinel.cast;
+
+import javax.vecmath.Point3f;
+
+/**
+ * @author hal.hildebrand
+ */
+public class SphericalSubscription extends SpatialSubscription {
+    protected float radius;
+    protected float radiusSquared;
+
+    public SphericalSubscription(Point3f location, float radius) {
+        super(location);
+        this.radius = radius;
+        this.radiusSquared = radius * radius;
+    }
+
+    public float getRadius() {
+        return radius;
+    }
+
+    public float getRadiusSquared() {
+        return radiusSquared;
+    }
+
+    public void setRadius(float radius) {
+        this.radius = radius;
+        radiusSquared = radius * radius;
+    }
+}
diff --git a/sentinel/src/main/java/com/hellblazer/luciferase/thoth/impl/Perceptron.java b/sentinel/src/main/java/com/hellblazer/luciferase/thoth/impl/Perceptron.java
@@ -25,11 +25,13 @@
 import java.util.Collections;
 import java.util.HashSet;
 import java.util.Set;
+import java.util.concurrent.ThreadLocalRandom;
 
 import javax.vecmath.Point3f;
 import javax.vecmath.Tuple3f;
 import javax.vecmath.Vector3f;
 
+import com.hellblazer.luciferase.sentinel.Vertex;
 import com.hellblazer.luciferase.thoth.Movable;
 import com.hellblazer.luciferase.thoth.Perceiving;
 import com.hellblazer.primeMover.annotations.Entity;
@@ -55,8 +57,18 @@ public Perceptron(E entity, Point3f location, int aoiRadius, int maximumVelocity
 
     @Override
     public Node closestTo(Tuple3f point3f) {
-        // TODO Auto-generated method stub
-        return null;
+        Vertex current = null;
+        float dSqur = 0;
+        for (var v : locate(point3f, ThreadLocalRandom.current()).getVertices()) {
+            var d = new Vector3f(point3f);
+            d.sub(v);
+            final var dist = d.lengthSquared();
+            if (current == null || dist < dSqur) {
+                current = v;
+                dSqur = dist;
+            }
+        }
+        return (Node) current;
     }
 
     @Override
@@ -66,7 +78,6 @@ public void fadeFrom(Node neighbor) {
 
     @Override
     public Node getAliased(Node node) {
-        // TODO Auto-generated method stub
         return null;
     }
 
@@ -88,7 +99,7 @@ public boolean includes(Node node) {
     }
 
     @Override
-    public void insert(Node id, Tuple3f point3f) {
+    public void insert(Node id) {
         // TODO Auto-generated method stub
 
     }
@@ -148,7 +159,7 @@ public void moveBoundary(Node neighbor) {
 
         if (!includes(neighbor)) {
             if (overlaps(this, neighbor.getLocation(), maxRadiusSquared)) {
-                insert(neighbor, neighbor.getLocation());
+                insert(neighbor);
             }
             return;
         }
@@ -182,20 +193,14 @@ public void noticeNodes(Collection<Node> nodes) {
 
         for (var peer : nodes) {
             if (!includes(peer)) {
-                insert(peer.clone(), peer.getLocation());
+                insert(peer.clone());
                 if (overlaps(this, peer.getLocation(), peer.getMaximumRadiusSquared())) {
                     peer.perceive(this);
                 }
             }
         }
     }
 
-    @Override
-    public boolean overlaps(Node node, Tuple3f center, float radiusSquared) {
-        // TODO Auto-generated method stub
-        return false;
-    }
-
     @Override
     public void perceive(Node neighbor) {
         if (!active) {
@@ -242,7 +247,7 @@ public void update(Node node, Tuple3f coord) {
     }
 
     protected void add(Node node) {
-        insert(node.clone(), node.getLocation());
+        insert(node.clone());
     }
 
     protected void handshakeWith(Node node) {
@@ -305,7 +310,7 @@ protected void removeNonOverlapped() {
     protected Point3f update(Node node) {
         var neighbor = getAliased(node);
         if (neighbor == null) {
-            insert(node.clone(), node.getLocation());
+            insert(node.clone());
             return null;
         }
         Point3f oldLocation = new Point3f(neighbor.getLocation());